In a large bowl, stir 2 cups of the flour, 1/3 cup granulated sugar, the salt and yeast with a wooden spoon until well mixed. In a 1-quart saucepan, heat the milk over medium heat until very warm, and an instant-read thermometer reads 120°F to 130°F. Add the warm milk, 1/4 cup butter, and egg to the flour mixture. Beat with an electric mixer on low speed 1 minute, stopping frequently to scrape batter from sides and bottom of bowl with a rubber spatula, until flour mixture is moistened. Beat on medium speed 1 minute, stopping frequently to scrape bowl. With a wooden spoon, stir in enough of the remaining flour, about 1/2 cup at a time, until dough is soft, leaves the side of the bowl, and is easy to handle (dough may be slightly sticky).
Sprinkle flour lightly on a countertop or large cutting board. Place dough on floured surface. Knead by folding dough toward you, then with the heels of your hands, pushing dough away from you with a short rocking motion. Move dough a quarter turn and repeat. Continue kneading about 5 minutes, sprinkling surface with more flour if dough starts to stick, until dough is smooth and springy. Spray a large bowl with the cooking spray. Place dough in bowl, turning to grease all sides. Cover bowl loosely with plastic wrap; let rise in a warm place about 1 hour 30 minutes, or until dough has doubled in size. Dough is ready if an indentation remains when you press your fingertips about 1/2 inch.
In a small bowl, mix 1/2 cup sugar and the cinnamon; set aside. Spray the bottom and sides of a 13×9-inch pan with the cooking spray. Sprinkle flour lightly on a countertop or large cutting board. Gently push your fist into the dough to deflate it. Pull the dough away from the sides of the bowl, and place it on the floured surface.
Using your hands or a rolling pin, flatten dough into a 15×10-inch rectangle. Spread 1/4 cup butter over dough to within 1/2 inch of edges. Sprinkle with sugar-cinnamon mixture, raisins and nuts. Beginning at a 15-inch side, roll dough up tightly. Pinch edge of dough into the roll to seal edge. Stretch and shape roll until even, and 15 inches long. Using a sharp, serrated knife or length of dental floss, cut roll into 15 (1-inch) slices. Place slices slightly apart in the pan. Cover pan loosely with plastic wrap; let rise in a warm place about 30 minutes or until dough has doubled in size. Remove plastic wrap.
Move the oven rack to the middle position of the oven. Heat oven to 350°F. Bake 30 to 35 minutes, or until golden brown. Immediately remove rolls from pan; place right side up on a cooling rack. Cool 5 minutes.
In a small bowl, stir glaze ingredients until smooth, adding enough milk so glaze is thin enough to drizzle. Over the warm rolls, drizzle glaze from the tip of a tableware teaspoon, moving the spoon back and forth to make thin lines of glaze. Serve warm.